CN105129151A - Robot packing machine - Google Patents

Robot packing machine Download PDF

Info

Publication number
CN105129151A
CN105129151A CN201510484339.8A CN201510484339A CN105129151A CN 105129151 A CN105129151 A CN 105129151A CN 201510484339 A CN201510484339 A CN 201510484339A CN 105129151 A CN105129151 A CN 105129151A
Authority
CN
China
Prior art keywords
conveying
parting bead
guide rod
packing machine
load
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201510484339.8A
Other languages
Chinese (zh)
Other versions
CN105129151B (en
Inventor
张�雄
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuzhou Guangtai Machinery Equipment Co., Ltd.
Original Assignee
张�雄
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 张�雄 filed Critical 张�雄
Priority to CN201510484339.8A priority Critical patent/CN105129151B/en
Publication of CN105129151A publication Critical patent/CN105129151A/en
Application granted granted Critical
Publication of CN105129151B publication Critical patent/CN105129151B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00Automatic control, checking, warning, or safety devices
    • B65B57/02Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
    • B65B57/04Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10Feeding, e.g. conveying, single articles
    • B65B35/16Feeding, e.g. conveying, single articles by grippers
    • B65B35/18Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/52Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00Automatic control, checking, warning, or safety devices
    • B65B57/10Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B65B57/14Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged

Abstract

The invention relates to a robot packing machine which comprises a frame body, wherein a conveying mechanism which is used for conveying packaged articles is arranged on the frame body, a transmitting mechanism which is used for transmitting a case body for storing the packaged articles is arranged beside the conveying mechanism, a four-axis linkage shifting mechanism which is used for grabbing the packaged articles into the case body is arranged above the conveying mechanism, a camera is arranged at a feeding port of the conveying mechanism and is used for shooting the actual position of each packaged article such that the actual position of the packaged article is compared with the correct position of the packaged article in a controller, and the camera, the conveying mechanism, the transmitting mechanism and the four-axis linkage shifting mechanism are all electrically connected with the controller. According to the robot packing machine, the actual positions of all the packaged articles can be shot by the camera and are compared with the correct positions of the packaged articles in the controller, so that the multiangular and multidirectional adjustment and shifting of the packaged articles are realized by utilizing the four-axis linkage shifting mechanism according to comparison results, and the article packing efficiency and the article putting quality are increased.

Description

Robot packing machine
Technical field
The present invention relates to mechanical equipment technical field, is a kind of robot packing machine.
Background technology
In process of production, need article to load in packaging bag again packing material to be cased.Traditional packing method, because the direction of each packaging bag or position likely deviation occur at any time, needed manually to adjust, causes whole efficiency low, waste of manpower before loading casing; Traditional packaging bag boxing apparatus, can not realize multi-angle, multi-faceted adjustment, bad adaptability, degree of automation is low, job insecurity.
Summary of the invention
The object of the invention is for above weak point, provide a kind of robot packing machine.
The scheme that technical solution problem of the present invention adopts is, a kind of robot packing machine, comprise support body, described support body is provided with the conveying mechanism for transporting packing material, the side of described conveying mechanism is provided with the connecting gear for carrying the casing depositing packing material, the top of described conveying mechanism is provided with the four-axle linked shift mechanism entering casing for capturing packing material, the inlet point place of described conveying mechanism is provided with the photo for taking each packing material actual position thus the camera of comparing with the photo of packing material tram on the controller, described camera, conveying mechanism, connecting gear, four-axle linked shift mechanism is all electrically connected controller.
Further, described conveying mechanism comprises motor, described motor is connected with belt pulley through retarder, and described belt pulley is connected with another belt pulley through belt conveyor, and the discharge outlet of described conveying mechanism is provided with the roller type counting machine that coordinate tangent with described belt conveyor on a moving belt.
Further, the top at the inlet point place of described conveying mechanism is provided with a rack, directly over the inside that described camera is positioned at rack and belt conveyor, described belt conveyor passes bottom rack, be provided with some for realizing the fluorescent tube thrown light between described camera and belt conveyor, described fluorescent tube is placed in two sides of camera, is provided with aluminium section bar between described fluorescent tube and rack, described fluorescent tube is connected on aluminium section bar through bolt, described rack is also hinged with a fan cabinet door.
Further, described connecting gear comprises motor, described motor is coaxially connected with two sprocket wheels through retarder, two sprocket wheels are connected with another two sprocket wheels through two load-transfer devices respectively, dividing plate is provided with between two load-transfer devices, the peripheral part of two load-transfer devices is provided with baffle plate, and the appearance of described baffle plate is coated with one deck plastic layer, is provided with the vanning district for packing material being loaded casing between described connecting gear and conveying mechanism.
Further, described vanning district comprises also spaced set front parting bead, middle parting bead, rear parting bead vertical with load-transfer device, be provided with between two adjacent parting beads one driven by air-actuator along the sliding seat of the direction slippage vertical with load-transfer device, described sliding seat can be provided with some round suckers for drawing casing.
Further, described air-actuator comprises the cylinder be connected with sliding seat respectively, the shape of the inlet end portion of described middle parting bead is wedge shape, the surface of described dividing plate is provided with by the block of air cylinder driven vertical lift on the entry position of middle parting bead and rear parting bead, described block upper surface when declining flushes with dividing plate, away from the outside of the load-transfer device of sliding seat end at front parting bead, middle parting bead, the correspondence position of rear parting bead is disposed with sensors A, sensor B, sensor C, described sensors A is electrically connected with a cylinder on the position of the inlet point near connecting gear, the mouth of described cylinder is connected with stopper along the direction vertical with load-transfer device, the non-inlet end portion of described front parting bead and rear parting bead is respectively arranged with the sensor D tilted toward middle parting bead direction at two outer circumferential sides.
Further, described four-axle linked shift mechanism comprises frame, some slide blocks, the all sidepieces of described frame are provided with the guide rod for slide block slippage of some inclinations, the one end consolidation each other of described guide rod, wherein maximum two guide rods are in the same plane, the bottom of described guide rod is for drive rotatable sucker through driver train, between described sucker and slide block all through ball head universal and connecting rod two ends hinged, the coupling end of described slide block and guide rod drives through motor drive mechanism and realizes the reciprocal slipping motion of slide block along guide rod.
Further, described motor drive mechanism comprises motor, the mouth of described motor is connected with the belt pulley being positioned at guide rod inside, described belt pulley is connected with another belt pulley through belt, described slide block is connected on belt, described guide rod with the face of shoe contact on be also provided with slide rail, described slide block coordinates with slide rail slippage, described driver train comprises rotating cylinder, and the mouth of described rotating cylinder is connected with sucker.
Further, the quantity of described connecting rod on a slide block is two, also connect through spring between two connecting rods, the bottom of described sucker is also provided with one piece for drawing the cavernous body realizing buffering noise reduction when article are shifted when sucker, described connecting rod is also arranged with some clamps for fixed line pipeline.
Further, the shape of described frame is triangular structure, and the quantity of described guide rod is three and is fixed on the bottom of frame, containing a slide block on every root guide rod.
Compared with prior art, the present invention has following beneficial effect: this robot packing machine can utilize camera take the photo of each packing material actual position thus compare with the photo of packing material tram on the controller, four-axle linked shift mechanism is utilized to realize the adjustment of multi-angle direction, the displacement of packing material according to comparison result, when avoiding occurring that part packing material is cased, direction is inconsistent, and that improves the boxing efficiency of article and article puts quality; This robot packing machine can realize the vanning of fully automatic integral, and degree of automation is high, stable working.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, patent of the present invention is further illustrated.
Fig. 1 is the structural representation of this invention;
Fig. 2 is the A place partial enlarged view of Fig. 1;
Fig. 3 is the B place partial enlarged view of Fig. 1;
Fig. 4 is the C place partial enlarged view of Fig. 1;
Fig. 5 is the structural representation one of four-axle linked shift mechanism;
Fig. 6 is the structural representation two of four-axle linked shift mechanism;
Fig. 7 is the transmission principle figure of motor drive mechanism;
Fig. 8 is the D direction view of Fig. 1;
Fig. 9 is the birds-eye view of Fig. 8;
Block diagram when Figure 10 is this invention work;
Figure 11 is the working state schematic representation one of this invention;
Figure 12 is the working state schematic representation two of this invention;
Figure 13 is the working state schematic representation three of this invention;
Figure 14 is the working state schematic representation four of this invention;
Figure 15 is the working state schematic representation five of this invention;
Figure 16 is the working state schematic representation six of this invention;
Figure 17 is the working state schematic representation seven of this invention;
Figure 18 is the working state schematic representation eight of this invention;
Figure 19 is the working state schematic representation nine of this invention;
Figure 20 is the working state schematic representation ten of this invention;
Figure 21 is the working state schematic representation 11 of this invention;
In figure:
1-frame; 2-slide block; 3-guide rod; 4-sucker; 5-ball head universal; 6-connecting rod; 7-motor; 8-belt pulley; 9-belt; 10-slide rail; 11-rotating cylinder; 12-spring; 13-cavernous body; 14-clamp; 15-support body; 16-controller; 17-conveying mechanism; The four-axle linked shift mechanism of 18-; 19-camera; 20-retarder; 21-belt conveyor; 22-roller type counting machine; 23-rack; 24-fluorescent tube; 25-aluminium section bar; 26-cabinet door; 27-packing material; 28-casing; 29-connecting gear; 30-load-transfer device; 31-dividing plate; 32-baffle plate; 33-plastic layer; 34-cases district; Parting bead before 35-; Parting bead in 36-; Parting bead after 37-; 38-sliding seat; 39-circle sucker; 40-cylinder; 41-block; 42-sensors A; 43-sensor B; 44-sensor C; 45-stopper; 46-sensor D.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further described.
As shown in Fig. 1 ~ 21, a kind of robot packing machine, comprise support body 15, described support body is provided with the conveying mechanism 17 for transporting packing material, the side of described conveying mechanism is provided with the connecting gear 29 for carrying the casing 28 depositing packing material, the top of described conveying mechanism is provided with the four-axle linked shift mechanism 18 entering casing 28 for capturing packing material 27, the inlet point place of described conveying mechanism is provided with the photo for taking each packing material actual position thus the camera 19 of comparing with the photo of packing material tram on the controller, described camera, conveying mechanism, connecting gear, four-axle linked shift mechanism is all electrically connected controller 16.
In the present embodiment, described conveying mechanism comprises motor 7, described motor 7 is connected with belt pulley through retarder 20, described belt pulley is connected with another belt pulley through belt conveyor 21, and the discharge outlet of described conveying mechanism is provided with the roller type counting machine 22 that coordinate tangent with described belt conveyor on a moving belt.
In the present embodiment, the top at the inlet point place of described conveying mechanism is provided with a rack 23, directly over the inside that described camera is positioned at rack and belt conveyor, described belt conveyor passes bottom rack, be provided with some for realizing the fluorescent tube 24 thrown light between described camera and belt conveyor, described fluorescent tube is placed in two sides of camera, aluminium section bar 25 is provided with between described fluorescent tube and rack, described fluorescent tube is connected on aluminium section bar through bolt, described rack is also hinged with a fan cabinet door 26.
In the present embodiment, described connecting gear comprises motor 7, described motor 7 is coaxially connected with two sprocket wheels through retarder 20, two sprocket wheels are connected with another two sprocket wheels through two load-transfer devices 30 respectively, dividing plate 31 is provided with between two load-transfer devices, the peripheral part of two load-transfer devices is provided with baffle plate 32, and the appearance of described baffle plate is coated with one deck plastic layer 33, is provided with the vanning district 34 for packing material being loaded casing between described connecting gear and conveying mechanism.
In the present embodiment, described vanning district comprises also spaced set front parting bead 35, middle parting bead 36, rear parting bead 37 vertical with load-transfer device, be provided with between two adjacent parting beads one driven by air-actuator along the sliding seat 38 of the direction slippage vertical with load-transfer device, described sliding seat can be provided with some round suckers 39 for drawing casing.
In the present embodiment, described air-actuator comprises the cylinder 40 be connected with sliding seat respectively, the shape of the inlet end portion of described middle parting bead is wedge shape, the surface of described dividing plate is provided with by the block 41 of air cylinder driven vertical lift on the entry position of middle parting bead and rear parting bead, described block upper surface when declining flushes with dividing plate, away from the outside of the load-transfer device of sliding seat end at front parting bead, middle parting bead, the correspondence position of rear parting bead is disposed with sensors A 42, sensor B43, sensor C44, described sensors A is electrically connected with a cylinder 40 on the position of the inlet point near connecting gear, the mouth of described cylinder is connected with stopper 45 along the direction vertical with load-transfer device, the non-inlet end portion of described front parting bead and rear parting bead is respectively arranged with the sensor D46 tilted toward middle parting bead direction at two outer circumferential sides.
In the present embodiment, described four-axle linked shift mechanism comprises frame 1, some slide blocks 2, the all sidepieces of described frame are provided with the guide rod 3 for slide block slippage of some inclinations, the one end consolidation each other of described guide rod, wherein maximum two guide rods are in the same plane, the bottom of described guide rod is for drive rotatable sucker 4 through driver train, all hinged through ball head universal 5 and connecting rod 6 two ends between described sucker and slide block, the coupling end of described slide block and guide rod drives through motor drive mechanism and realizes the reciprocal slipping motion of slide block along guide rod.
In the present embodiment, described motor drive mechanism comprises motor 7, the mouth of described motor is connected with the belt pulley 8 being positioned at guide rod inside, described belt pulley is connected with another belt pulley through belt 9, described slide block is connected on belt, described guide rod with the face of shoe contact on be also provided with slide rail 10, described slide block coordinates with slide rail slippage, described driver train comprises rotating cylinder 11, and the mouth of described rotating cylinder is connected with sucker.
In the present embodiment, the quantity of described connecting rod on a slide block is two, also connect through spring 12 elasticity between two connecting rods, the bottom of described sucker is also provided with one piece for drawing the cavernous body 13 realizing buffering noise reduction when article are shifted when sucker, described connecting rod is also arranged with some clamps 14 for fixed line pipeline.
In the present embodiment, the shape of described frame is triangular structure, and the quantity of described guide rod is three and is fixed on the bottom of frame, containing a slide block on every root guide rod.
Specific implementation process: as Figure 11, connecting gear operates, and this invention is when initial conditions, and district does not have casing in vanning, now two casings are kept out by block respectively and are not advanced with load-transfer device, and the stopper that the casing of load-transfer device inlet point is stretched out by air cylinder driven is stopped and cannot advance.Now sliding seat is stretched out under air cylinder driven, and sucker holds casing, cylinders retract, and sliding seat drives casing to shrink return to enter to case district.Meanwhile, conveying mechanism constantly enters packing material from shooting head end, camera is taken the photo of each packing material actual position thus is compared with the photo of packing material tram on the controller, according to comparison result, four-axle linked shift mechanism is started working, motor drives the slide block independent slide on guide rod respectively, rotating cylinder drives sucker independently to rotate, realize packing material to rotate that to adjust to position consistent with the photo of packing material tram in controller, and the multidirectional tilt adjustments realizing sucker is by ruly for the packing material casing putting into district of casing; As Figure 12,13, after central casing between parting bead and rear parting bead is filled, load-transfer device suspends and advances, casing is released on load-transfer device by sliding seat, load-transfer device moves on, and drives casing to advance and leaves, now, the sensor D being positioned at rear parting bead side responds to less than casing, and the casing of load-transfer device inlet point prepares to enter into induction less than in the vanning district of casing; As Figure 14,15,16, when casing leaves completely, when sensor C responds to less than casing, stopper is retracted under air cylinder driven, the block of nearly rear parting bead rises simultaneously, lifted restrictions by the casing stopped and to advance with load-transfer device, when proceeding to sensors A, a casing after sensors A control stopper again stretches out and stops under air cylinder driven, advancing casing stops to the block place of nearly rear parting bead, and now sliding seat is stretched out under air cylinder driven, and sucker holds casing, cylinders retract, sliding seat drives casing to shrink return to enter to case district; As Figure 17,18, after central casing between parting bead and front parting bead is filled, load-transfer device suspends and advances, casing is released on load-transfer device by sliding seat, load-transfer device moves on, and drives casing to advance and leaves, now, the sensor D being positioned at front parting bead side responds to less than casing, and the casing of load-transfer device inlet point prepares to enter into induction less than in the vanning district of casing; As Figure 19,20,21, when casing leaves completely, when sensor B responds to less than casing, stopper is retracted under air cylinder driven, the block of nearly middle parting bead rises simultaneously, lifted restrictions by the casing stopped and to advance with load-transfer device, when proceeding to sensors A, a casing after sensors A control stopper again stretches out and stops under air cylinder driven, advancing casing stops to the block place of nearly middle parting bead, and now sliding seat is stretched out under air cylinder driven, and sucker holds casing, cylinders retract, sliding seat drives casing to shrink return to enter to case district; So repeatedly run.
Above-listed preferred embodiment; the object, technical solutions and advantages of the present invention are further described; be understood that; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention; within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. a robot packing machine, comprise support body, it is characterized in that: described support body is provided with the conveying mechanism for transporting packing material, the side of described conveying mechanism is provided with the connecting gear for carrying the casing depositing packing material, the top of described conveying mechanism is provided with the four-axle linked shift mechanism entering casing for capturing packing material, the inlet point place of described conveying mechanism is provided with the photo for taking each packing material actual position thus the camera of comparing with the photo of packing material tram on the controller, described camera, conveying mechanism, connecting gear, four-axle linked shift mechanism is all electrically connected controller.
2. robot packing machine according to claim 1, it is characterized in that: described conveying mechanism comprises motor, described motor is connected with belt pulley through retarder, described belt pulley is connected with another belt pulley through belt conveyor, and the discharge outlet of described conveying mechanism is provided with the roller type counting machine that coordinate tangent with described belt conveyor on a moving belt.
3. robot packing machine according to claim 2, it is characterized in that: the top at the inlet point place of described conveying mechanism is provided with a rack, directly over the inside that described camera is positioned at rack and belt conveyor, described belt conveyor passes bottom rack, be provided with some for realizing the fluorescent tube thrown light between described camera and belt conveyor, described fluorescent tube is placed in two sides of camera, aluminium section bar is provided with between described fluorescent tube and rack, described fluorescent tube is connected on aluminium section bar through bolt, described rack is also hinged with a fan cabinet door.
4. robot packing machine according to claim 1, it is characterized in that: described connecting gear comprises motor, described motor is coaxially connected with two sprocket wheels through retarder, two sprocket wheels are connected with another two sprocket wheels through two load-transfer devices respectively, dividing plate is provided with between two load-transfer devices, the peripheral part of two load-transfer devices is provided with baffle plate, and the appearance of described baffle plate is coated with one deck plastic layer, is provided with the vanning district for packing material being loaded casing between described connecting gear and conveying mechanism.
5. robot packing machine according to claim 4, it is characterized in that: described vanning district comprises also spaced set front parting bead, middle parting bead, rear parting bead vertical with load-transfer device, be provided with between two adjacent parting beads one driven by air-actuator along the sliding seat of the direction slippage vertical with load-transfer device, described sliding seat can be provided with some round suckers for drawing casing.
6. robot packing machine according to claim 5, it is characterized in that: described air-actuator comprises the cylinder be connected with sliding seat respectively, the shape of the inlet end portion of described middle parting bead is wedge shape, the surface of described dividing plate is provided with by the block of air cylinder driven vertical lift on the entry position of middle parting bead and rear parting bead, described block upper surface when declining flushes with dividing plate, away from the outside of the load-transfer device of sliding seat end at front parting bead, middle parting bead, the correspondence position of rear parting bead is disposed with sensors A, sensor B, sensor C, described sensors A is electrically connected with a cylinder on the position of the inlet point near connecting gear, the mouth of described cylinder is connected with stopper along the direction vertical with load-transfer device, the non-inlet end portion of described front parting bead and rear parting bead is respectively arranged with the sensor D tilted toward middle parting bead direction at two outer circumferential sides.
7. robot packing machine according to claim 1, it is characterized in that: described four-axle linked shift mechanism comprises frame, some slide blocks, the all sidepieces of described frame are provided with the guide rod for slide block slippage of some inclinations, the one end consolidation each other of described guide rod, wherein maximum two guide rods are in the same plane, the bottom of described guide rod is for drive rotatable sucker through driver train, between described sucker and slide block all through ball head universal and connecting rod two ends hinged, the coupling end of described slide block and guide rod drives through motor drive mechanism and realizes the reciprocal slipping motion of slide block along guide rod.
8. robot packing machine according to claim 7, it is characterized in that: described motor drive mechanism comprises motor, the mouth of described motor is connected with the belt pulley being positioned at guide rod inside, described belt pulley is connected with another belt pulley through belt, described slide block is connected on belt, described guide rod with the face of shoe contact on be also provided with slide rail, described slide block coordinates with slide rail slippage, described driver train comprises rotating cylinder, and the mouth of described rotating cylinder is connected with sucker.
9. robot packing machine according to claim 7, it is characterized in that: the quantity of described connecting rod on a slide block is two, also connect through spring between two connecting rods, the bottom of described sucker is also provided with one piece for drawing the cavernous body realizing buffering noise reduction when article are shifted when sucker, described connecting rod is also arranged with some clamps for fixed line pipeline.
10. robot packing machine according to claim 7, is characterized in that: the shape of described frame is triangular structure, and the quantity of described guide rod is three and is fixed on the bottom of frame, containing a slide block on every root guide rod.
CN201510484339.8A 2015-08-10 2015-08-10 Robot recrater Active CN105129151B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510484339.8A CN105129151B (en) 2015-08-10 2015-08-10 Robot recrater

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510484339.8A CN105129151B (en) 2015-08-10 2015-08-10 Robot recrater

Publications (2)

Publication Number Publication Date
CN105129151A true CN105129151A (en) 2015-12-09
CN105129151B CN105129151B (en) 2017-06-30

Family

ID=54714838

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510484339.8A Active CN105129151B (en) 2015-08-10 2015-08-10 Robot recrater

Country Status (1)

Country Link
CN (1) CN105129151B (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105905331A (en) * 2016-05-13 2016-08-31 芜湖哈特机器人产业技术研究院有限公司 Automatic flexible packaged article loading device and control method thereof
CN106394992A (en) * 2016-09-14 2017-02-15 四川长虹电器股份有限公司 Automatic packing control system based on assembly line
CN107323753A (en) * 2017-05-24 2017-11-07 歌尔股份有限公司 Method and apparatus for automatic accomodation SMT products
CN111377100A (en) * 2020-02-28 2020-07-07 温州大学瓯江学院 Automatic packaging process for medical supplies
CN111409899A (en) * 2019-12-09 2020-07-14 江苏佳利达国际物流股份有限公司 Boxing robot for intelligent logistics and boxing method thereof

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008025845A1 (en) * 2008-05-29 2009-12-03 Festo Ag & Co. Kg Drive system, has coupling struts clamped together by spring in transverse direction for retaining components in opposite intervention, and detection unit producing output of electrical warning signal when components reach intervention
CN201362377Y (en) * 2009-03-04 2009-12-16 广州达意隆包装机械股份有限公司 Translational box packer
CN102530307A (en) * 2011-12-29 2012-07-04 大连佳林设备制造有限公司 Soft bag boxing machine with vision system
CN202783859U (en) * 2012-08-24 2013-03-13 张�雄 Whole-column bottle pushing mechanism for automatic case packer
CN103419951A (en) * 2013-07-17 2013-12-04 杭州娃哈哈科技有限公司 Combined box filling machine of battery assembly line

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008025845A1 (en) * 2008-05-29 2009-12-03 Festo Ag & Co. Kg Drive system, has coupling struts clamped together by spring in transverse direction for retaining components in opposite intervention, and detection unit producing output of electrical warning signal when components reach intervention
CN201362377Y (en) * 2009-03-04 2009-12-16 广州达意隆包装机械股份有限公司 Translational box packer
CN102530307A (en) * 2011-12-29 2012-07-04 大连佳林设备制造有限公司 Soft bag boxing machine with vision system
CN202783859U (en) * 2012-08-24 2013-03-13 张�雄 Whole-column bottle pushing mechanism for automatic case packer
CN103419951A (en) * 2013-07-17 2013-12-04 杭州娃哈哈科技有限公司 Combined box filling machine of battery assembly line

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105905331A (en) * 2016-05-13 2016-08-31 芜湖哈特机器人产业技术研究院有限公司 Automatic flexible packaged article loading device and control method thereof
CN106394992A (en) * 2016-09-14 2017-02-15 四川长虹电器股份有限公司 Automatic packing control system based on assembly line
CN106394992B (en) * 2016-09-14 2019-07-19 四川长虹电器股份有限公司 Automatic boxing control system based on assembly line
CN107323753A (en) * 2017-05-24 2017-11-07 歌尔股份有限公司 Method and apparatus for automatic accomodation SMT products
CN111409899A (en) * 2019-12-09 2020-07-14 江苏佳利达国际物流股份有限公司 Boxing robot for intelligent logistics and boxing method thereof
CN111377100A (en) * 2020-02-28 2020-07-07 温州大学瓯江学院 Automatic packaging process for medical supplies

Also Published As

Publication number Publication date
CN105129151B (en) 2017-06-30

Similar Documents

Publication Publication Date Title
CN105129151A (en) Robot packing machine
CN205312656U (en) Bottle palletizing machine
CN203998002U (en) A kind of product orientation conveying mechanism
CN204802150U (en) It supplies bagging apparatus to store up bag ware conveying formula
CN204701822U (en) Food bagging manufacturing line
CN207797890U (en) A kind of firecrackers bobbin dress basket machine
CN106240884A (en) A kind of fully-automatic packaging production line
CN105692155A (en) Full-automatic rubber block management and placement device and working method
CN206720306U (en) Plastic box stacking machine
CN206806452U (en) The glue spreading apparatus of the complete automatic double surface gluer of new-energy automobile assembled battery
CN103253402A (en) Full automatic packing machine
CN105059598B (en) A kind of carton boxing mechanism
CN106628902A (en) Logistics delivery robot
CN204871733U (en) Aversion mechanism carries
CN208531668U (en) Rubber shell feeding device
CN203767122U (en) Combined packing machine
JP6158596B2 (en) Filling equipment
CN205312552U (en) Bottle conveying mechanism of sign indicating number bottle buttress machine
CN207204662U (en) A kind of automatic sorting device
CN108248902A (en) A kind of intelligence food packing device
CN108820328A (en) A kind of single machine platform automatic boxing machine
CN104555349B (en) It is a kind of automatic for bucket machine
CN103738527B (en) Combination packaging machine
CN211442964U (en) Automatic glove bagging machine
CN211766666U (en) Snatch formula case packer

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20170309

Address after: 350000 Changan Road, Cangshan District, Fujian, No. 89, No.

Applicant after: Fuzhou Guangtai Machinery Equipment Co., Ltd.

Address before: 350014 Fuzhou, Taijiang District, Lotus Garden Village, No. 7, building 501, No. 1, No.

Applicant before: Zhang Xiong

GR01 Patent grant
GR01 Patent grant